US20180186013A1 - Robot head rotating structure - Google Patents
Robot head rotating structure Download PDFInfo
- Publication number
- US20180186013A1 US20180186013A1 US15/448,479 US201715448479A US2018186013A1 US 20180186013 A1 US20180186013 A1 US 20180186013A1 US 201715448479 A US201715448479 A US 201715448479A US 2018186013 A1 US2018186013 A1 US 2018186013A1
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- US
- United States
- Prior art keywords
- robot head
- rotating structure
- fixing
- flange
- head rotating
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20329—Joint between elements
Definitions
- the present disclosure generally relates to robots, and particularly to a robot head rotating structure.
- a traditional intelligent robot mainly includes a head and a trunk.
- the head is generally directly fixed on the trunk or installed on the trunk via a rotary table in a horizontal rotation manner. Therefore, the head of the robot is incapable of swinging back and forth as the head of a human, and is insufficient in automation.
- the purpose of the present disclosure is providing a robot head rotating structure to resolve the drawback that a robot head is incapable of swinging back and forth as the head of a human and insufficient in automation in the prior art.
- a robot head rotating structure comprises a robot head, a fixing frame, a connection assembly, and a rotary driving apparatus.
- the robot head comprises a housing defining an internal space.
- the fixing frame is disposed in the internal space.
- the connection assembly is disposed between the housing and the fixing frame.
- the rotary driving apparatus is disposed in the internal space.
- the connection assembly comprises a fixing shah fixedly connected to the fixing frame and a flange rotatably installed to the fixing shaft, the flange is fixedly connected to the housing, and the rotary driving apparatus is utilized to rotate the flange around the fixing shaft.
- the flange is rotatably installed to the fixing shaft through a bearing
- the fixing shaft comprises a shaft portion and a chassis portion, wherein the chassis portion is connected to one end of the shaft portion to fixedly connected with the fixing frame, and the bearing is put around the shaft portion and is supported by the shaft portion.
- the shaft portion comprises a sleeve portion and a support portion, wherein the sleeve portion protrudes from a side surface of the chassis portion away from the fixing frame, and the annular support portion protrudes from an outer end surface of the sleeve portion and extends outwardly along the axis of the sleeve portion.
- the outer end face of the sleeve portion has a first support surface abutting against a side end surface of the bearing, the first support surface surrounds an outer side of the support portion, and an outer peripheral surface of the support portion has a second support surface abutting an inner peripheral surface of the bearing.
- the rotary driving apparatus comprises a power source and a transmission mechanism.
- the transmission mechanism is connected between the power source and the flange.
- the transmission mechanism comprises a driven wheel fixedly connected with the flange and a driving wheel for driving the driven wheel to rotate, wherein the driving wheel is connected to the power source.
- the flange is rotatably installed to the fixing shaft through a hearing
- the driven wheel is rotatably put around the bearing
- a limit flange for restricting the movement of the bearing protrudes inwardly from an inner wall of the driven wheel.
- the transmission mechanism further comprises a transmission belt wound between the driven wheel and the driving wheel.
- An anti-separation flange for restricting the movement of the transmission belt protrudes outwardly from an outer wall of the driven wheel.
- an outer wall of the driven wheel includes a first tooth portion
- an outer wall of the driving wheel includes a second tooth portion
- an inner peripheral surface of the transmission belt includes a third tooth portion engaging with both the first tooth portion and the second tooth portion.
- the flange comprises an annular flange portion for fixedly connecting with the housing, an assembly portion for fixedly connecting with the limit flange, and a connection portion connected between the flange portion and the assembly portion.
- the robot head rotating structure further comprises two connection assemblies.
- the two connection assemblies are disposed on two sides of the fixing frame in a bilateral manner.
- the housing is spherical in shape and comprises a front case and a rear cover.
- the front case and the rear cover enclose to form the internal space, and the front case is locked with the rear cover through the flange.
- the robot head rotating structure further comprising a support base for supporting the head of the robot.
- the housing is rotatably connected to the fixing frame such that the housing is capable of rotating with respect to the fixing frame about the fixing shaft, the support base has an installation post.
- the fixing frame comprises a locking frame for fixedly connecting with the installation post.
- the housing defines an opening for the installation post to pass therethrough, and a shielding part for shielding the opening is disposed in the internal space.
- the housing comprises a front case and a back cover connecting with each other, wherein the rear cover comprises a recess having a chute, and the opening is on a bottom surface of the chute.
- the shielding part comprises a circular-arc-shaped baffle for engaging into the chute, and the baffle has a combination portion protruding from one side of a middle portion of the baffle for connecting with the installation post.
- the baffle is put around the installation post and supported by the installation post, the combination portion has an installation hole for the installation post to pass therethrough, and a fixing mechanism for fixedly connecting the installation post and the locking frame is disposed between the installation post and the locking frame.
- the locking frame comprises a fixing board
- the installation post comprises an end cover plate for abutting against the fixing board
- the fixing mechanism comprises a first fixing hole formed on the end cover plate and a second fixing hole formed on the fixing board and corresponding to the first fixing hole.
- connection straps two sides of the combination portion are disposed with connection straps, and two sides of the fixing board define support slots for the connection straps to slide into.
- a positioning structure is disposed between the combination portion and the installation post, and the positioning structure comprises a positioning slot formed on the combination portion and a protrusion portion protruding from an outer peripheral surface of the installation post and being capable of sliding into or out of the positioning slot.
- the combination portion is disposed with a limit clip for restricting the movement of the combination portion with respect to the installation post.
- the installation post has a hollow structure, and the end cover plate defines a wire hole.
- the baffle has a reinforcing bar.
- the support base further comprises a support wall portion, the installation post is connected to the support wall portion, and the support wall portion has a wire groove.
- the robot bead rotating structure has the connection assembly disposed between the housing and the fixing frame as well as the rotary driving apparatus, which are capable of enabling the housing to rotate with respect to the fixing frame.
- the head of the robot is capable of swinging back and forth as the head of a human stably, and the raising and bowing of the head of the robot can be realized, which improves the automation of the robot.
- FIG. 1 is a three dimensional view of a robot head according to an embodiment of the present disclosure.
- FIG. 2 is an exploded view of a robot head according to an embodiment of the present disclosure.
- FIG. 3 is a three dimensional view of a fixing frame according to an embodiment of the present disclosure.
- FIG. 4 is an exploded view of a fixing frame, a connection assembly, and a transmission mechanism according to an embodiment of the present disclosure.
- FIG. 5 is an enlarged view of part A of FIG. 4 .
- FIG. 6 is a side view of a robot bead according to an embodiment of the present disclosure.
- FIG. 7 is a cross-sectional view taken along line I-I of FIG. 6 .
- FIG. 8 is an enlarged view of part B of FIG. 7 .
- FIG. 9 is a three dimensional view of connecting a robot head and a support base according to an embodiment of the present disclosure.
- FIG. 10 is an exploded view of a robot head and a support base according to an embodiment of the present disclosure.
- FIG. 11 is an enlarged view of part C of FIG. 10 .
- FIG. 12 is a three dimensional view of a back cover according to an embodiment of the present disclosure.
- FIG. 13 is a rear view of a support base according to an embodiment of the present disclosure.
- FIG. 1 to FIG. 8 shows a preferred embodiment of a robot head rotating structure of the present disclosure.
- the robot head rotating structure comprises a robot head 100 , a fixing frame 2 , at least one set of connection assemblies 3 (e.g., two connection assemblies 3 ), and a rotary driving apparatus 4 .
- the robot head 100 comprises a housing 1 which defines an internal space 1 a.
- the fixing frame 2 is disposed in the internal space 1 a.
- the connection assemblies 3 are disposed between the housing 1 and the fixing frame 2 .
- Each of the connection assemblies 3 comprises a fixing shaft 31 and a flange 33 .
- the rotary driving apparatus 4 for rotating the flange 33 around the fixing shaft 31 is disposed in the internal space 1 a.
- the fixing shaft 31 is fixedly connected to the fixing frame 2 .
- the flange 33 is rotatably installed to the fixing shaft 31 through a bearing 32 , and is fixedly connected to the housing 1 .
- the above-mentioned robot head rotating structure has the connection assembly 3 disposed between the housing 1 and the fixing frame 2 as well as the rotary driving apparatus 4 , which are capable of enabling the housing 1 to rotate with respect to the fixing frame 2 .
- the robot head 100 is capable of swinging back and forth as the head of a human stably after the rotary driving apparatus 4 is controlled by an external electric signal, and the raising and bowing of the robot head 100 can be realized, which improves the automation of the robot.
- the robot head 100 comprises the housing 1 .
- the housing 1 defines the internal space 1 a.
- the fixing frame 2 is disposed in the internal space 1 a.
- the housing 1 is substantially spherical in shape.
- the above-mentioned components are disposed in the housing 1 and protected by the housing 1 .
- the housing 1 is rotatable with respect to the fixing frame 2 , and an inner wall of the housing 1 can be fixedly installed with an adaption board, a power supply board, etc.
- the housing 1 comprises a front case 11 and a back cover 12 which are connected with each other, wherein the front case 11 and the back cover 12 enclose to form the inner space 1 a.
- a front side of the front case 11 has a flat surface, and display screen or a camera could be installed on the fiat surface.
- the front case 11 and the rear cover 12 each comprises a side portion for connecting with the flange 33 .
- a wire through hole 13 is provided in a side portion of the front case 11 .
- the fixing frame 2 as a rotation supporting structure of the housing 1 , is fixedly connected with a support part (not shown) which is in exterior of the housing 1 .
- the fixing frame 2 is, but not limited to, a square frame with a two-layer structure.
- the fixing frame 2 comprises an upper plate 21 , a lower plate 22 located below the upper plate 21 , a locking stand 23 , and side plates 24 on two skies of the upper plate 21 .
- the upper plate 21 and the lower plates 22 could be disposed with a supporting plate 25 for placing electrical components.
- the locking stand 23 is connected between rear sides of the upper plate 21 and the lower plates 22 , thereby fixing with the support part.
- connection assembly 3 is utilized to connect the fixing frame 2 and the housing 1 .
- the connection assembly 3 comprises the fixing shaft 31 , the hearing 32 , and the flange 33 .
- the fixing shaft 31 is fixedly connected to the side plates 24 of the fixing frame 2 .
- the bearing 32 could be a rolling bearing, and is installed on the fixing shaft 31 .
- the flange 33 is put around the bearing 32 , and is fixedly connected to the housing 1 .
- the housing 1 rotates with respect to the fixing frame 2 through the rotation of the flange 33 on the fixing shaft 31 .
- the amount of the connection assembly 3 is, but not limited to, two sets.
- connection assemblies 3 are disposed in a bilateral manner about a central line of the fixing frame 2 which is perpendicular to the upper plate 21 and the lower plates 22 , and the first hearings 32 on the left and right sides are disposed coaxially.
- the housing 1 rotates more smoothly with respect to the fixed frame 2 , and the rotary structure could be more firm.
- connection assemblies are named as a first connection assembly 3 a and a second connection assembly 3 b, respectively.
- the first connection assembly 3 a and the second connection assembly 3 b are disposed on two sides of the fixing frame 2 in a bilateral manner, and are disposed coaxially.
- the structure of the first connection assembly 3 a and the second connection assembly 3 b could be the same or similar.
- the following will take the first connection assembly 3 a as an example for briefly describing the structure of the first connection assembly 3 a and the second connection assembly 3 b.
- the fixing shall 31 of the first connection assembly 3 a comprises a shaft portion 311 and a chassis portion 312 , wherein the shaft portion 311 extends horizontally and is in a cylindrical shape, and the chassis portion 312 is connected to a side of the shaft portion 311 .
- a plurality of assembly holes 313 are formed on the chassis portion 312 along a circumferential direction of the chassis portion 312 with intervals between two adjacent assembly holes 313 .
- Screw holes corresponding to the assembly holes 313 are formed on the side plates 24 . A screw could sequentially passed through the assembly hole 313 and the screw hole, thereby fixing the fixing shaft 31 to an outside of the fixing frame 2 .
- the chassis portion 312 has a positioning notch 314 , and has positioning post(s) 319 protruding therefrom, which facilitate the connection between the fixing shaft 31 and the fixing frame 2 .
- the shaft portion 311 comprises a sleeve portion 315 and a support portion 316 , wherein the sleeve portion 315 protrudes from a side surface of the chassis portion 312 which away from the fixing frame 2 , and the annular support portion 316 extends outwardly from the outer end face of the sleeve portion 315 along the axis of the sleeve portion 315 .
- the outer end surface of the sleeve portion 315 has a first support surface 317 surrounding the outer side of the support portion 316 , and the outer circumferential surface of the support portion 316 has a second support surface 318 .
- the bearing 32 could be put around the support portion 316 by tightly matching, and the second support surface 318 abuts against (in contact with) an inner peripheral surface of the bearing 32 while the first support surface 317 abuts against (in contact with) a side end surface of the bearing 32 which close to the fixing frame 2 , thereby restraining the movement of the bearing 32 toward the chassis portion 312 .
- the flange 33 of the first connection assembly 3 a comprises a flange portion 331 for fixedly connected with the housing 1 , an assembly portion 332 , and a connection portion 333 connected between the flange portion 331 and the assembly portion 332 .
- the flange portion 331 is substantially in an annular shape.
- the connection portion 333 extends from the inner edge of the flange portion 331 along the axial direction of the flange portion 331 .
- the assembly portion 332 extends from the inner edge of one end of the connection portion 333 which away from the flange portion 331 along the radial direction of the connection portion 333 .
- a plurality of locking holes 334 are formed on the flange portion 331 along a circumferential direction of the flange portion 331 with intervals between two adjacent locking holes 334 .
- a side portion of the front case 11 and a side portion of the rear cover 12 are each provided with lock holes 14 corresponding to the locking holes 334 . After screws pass through the lock hole 14 of the front case 11 and the corresponding locking holes 334 as well as the lock hole 14 of the rear cover 12 and the corresponding locking holes 334 , the front case 11 and the rear cover 12 could be feed to an outside of the flange 33 , and the front case 11 and the rear cover 12 are fixedly connected.
- the rotation driving apparatus 4 is utilized to enable the flange 33 of the first connection assembly 3 a to rotate, thereby driving the housing 1 to rotate with respect to the fixing frame 2 .
- the amount of the rotation driving apparatus 4 is, but not limited to, one.
- the rotation driving apparatus 4 comprises a power source 41 and a transmission mechanism 42 connected between the power source 41 and the flange 33 .
- the power source 41 could be, but is not limited to, a servo
- the transmission mechanism 42 comprises a driven wheel 421 fixedly connected to the flange 33 and a driving wheel 422 for driving the driven wheel 421 to rotate.
- the driving wheel 422 is connected to an output shaft of the power source 41 , and is coaxially disposed with the output shaft, thereby driving the driving wheel 422 to rotate through the output shaft when the power source 41 operates.
- the housing 1 could rotate with respect to the fixing frame 2 through rotating the rotation driving apparatus 4 , which enables the robot head 100 to swing back and forth so as to realize the forward and backward motion of the robot head 100 .
- the output shaft of the power source 41 could also be provided with a steering wheel, and the driving wheel 422 could be installed on the steering wheel, so that the power source 41 could drive the steering wheel to rotate the driving wheel 422 .
- a side end face of the driven wheel 421 is locked and fixed by screws with the assembly portion 332 of the flange 33 in the first connection assembly 3 a, the driven wheel 421 is rotatably put around the bearing 32 , and an inner wall (i.e., inner peripheral surface) of the driven wheel 421 has a limit flange 423 protruding inwardly for restricting the movement of the bearing 32 .
- the inner wall of the driven wheel 421 abuts against (in contact with) an outer peripheral surface of the bearing 32 in the first connection assembly 3 a
- an outer end surface (a side end surface close to the fixing frame 2 ) of the limit flange 423 abuts against (in contact with) the side end surface of the bearing 32 which away from the fixing frame 2 .
- the driven wheel 421 and the shaft portion 311 jointly define a limitation space for accommodating the bearing 32 , and the outer end surfaces of the first support surface 317 , the second support surface 318 , and the limit flange 423 are positioned in the limitation space to lock the position of the bearing 32 .
- the rotation driving apparatus 4 since only one rotation driving apparatus 4 is used, the rotation driving apparatus 4 is connected to the first connection assembly 3 a, and the second connection assembly 3 b disposed on the other side of the fixing frame 2 is not connected to the rotation driving apparatus 4 , hence the main difference between the first connection assembly 3 a and the second connection assembly 3 b consists in the structure of the flange 33 .
- the flange 33 of the first connection assembly 3 a is assembled to the bearing 32 of the first connection assembly 3 a through the driven wheel 421 . As can be seen from FIG.
- the flange 33 of the second connection assembly 3 b is directly assembled to the bearing 32 of the second connection assembly 3 b, and the second connection assembly 3 b comprises a flange portion 331 for fixedly connecting with the housing 1 , an assembly portion 332 , a connection portion 333 connected between the flange portion 331 and the assembly portion 332 , an extending portion 335 extending in the axial direction of the flange portion 331 from the assembly portion 332 , and a protrusion portion 336 protruding on an inner wall of the extending portion 335 .
- an inner wall of the extending portion 335 abuts against (in contact with) the outer peripheral surface of the bearing 32
- an outer end surface (a side end surface close to the fixing frame 2 ) of the protrusion portion 336 abuts against (in contact with) the side end surface of the bearing 32 away from the fixing frame 2 .
- both the first connection assembly 3 a and the second connection assembly 3 b are connected to the corresponding rotation driving apparatus 4 , and the first connection assembly 3 a and the second connection assembly 3 b have the same structure.
- the transmission mechanism 42 is a pulley transmission mechanism, wherein the driven wheel 421 and the driving wheel 422 are both pulleys, and the transmission mechanism 42 further comprises a transmission belt 424 wound between the driven wheel 421 and the driving wheel 422 .
- An outer wall (i.e., inner peripheral surface) of the driven wheel 421 has an anti-separation flange 425 protruding outwardly for restricting the movement of the transmission belt 424 .
- An upper end portion of the transmission belt 424 is clamped between the anti-separation flange 425 and the assembly portion 332 to prevent the transmission belt 424 from separating from the driven wheel 421 .
- the driving wheel 422 also has an anti-separation structure for restricting the movement of the transmission belt 424 , wherein the anti-separation structure are two anti-movement flanges 426 formed on an outer wall (i.e., outer peripheral-surface) of the driving wheel 422 .
- the two anti-movement flanges 426 are spaced from each other on the axis of the driving wheel 422 .
- a lower end portion of the transmission belt 424 is clamped between the two anti-movement flanges 426 to prevent the transmission belt 424 from separating from the driving wheel 422 .
- the transmission mechanism 42 could also be a gear transmission mechanism in which the driven wheel 421 and the driving wheel 422 are both gears, wherein the driven wheel 421 and the driving wheel 422 could engage with each other, or a gear set for transmission could be disposed between the driven wheel 421 and the driving wheel 422 , so as to enable the driven wheel 421 to rotate.
- an outer wall of the driven wheel 421 includes a first tooth portion 421 a
- an outer wall of the driving wheel 422 includes a second tooth portion 422 a
- the transmission belt 424 is single-sided tooth belt with an inner peripheral surface being a rubber contact surface.
- An inner peripheral surface of the transmission belt 424 includes a third tooth portion 424 a engaged with both the first tooth portion 421 a and the second tooth portion 422 a.
- connection structure of the robot head 100 and a support base 200 provided in an embodiment will be described in detail with reference to FIGS. 9 to 13 .
- the support base 200 is utilized to support the robot head 100 .
- the support base 200 comprises an installation post 201 and a support wall portion 202 .
- the installation post 201 is connected to the support wall portion 202 .
- the installation post 201 has a substantially circular cross-section
- the support wall portion 202 has a substantially arc structure which encloses a half of the rear cover 12 , which has a shape matching that of the rear cover 12 .
- the support wall portion 202 has a wire groove 2021 for a power cord to insert, thereby facilitating the storage of the power cord.
- a decoration cover plate could be installed on an outer side of the support wall portion 202 to conceal the power cord, so as to prevent the power cord from being exposed, thereby protecting the power cord from damage.
- the housing 1 is rotatably connected to the fixing frame 2 such that the housing 1 is capable of rotating with respect to the fixing frame 2 about the fixing shaft 31 .
- the fixing frame 2 comprises a locking frame 23 for fixedly connecting with the installation post 201 .
- the rear cover 12 defines an opening 15 for the installation post 201 to pass therethrough.
- the rear cover 12 comprises a recess 121 .
- the recess 121 has a chute 122 , and the opening 15 is on a bottom surface of the chute 122 .
- a shielding part 5 for shielding the opening 15 is disposed in the internal space 1 a.
- the shielding part 5 comprises a circular-arc-shaped baffle 51 for engaging into the chute 122 , and the baffle 51 has a combination portion 52 protruding from one side of a middle portion of the baffle 51 for connecting with the installation post 201 .
- the opening 15 is substantially an elongated waist-like hole, which has a length such that the opening 15 can be shielded when the rear cover 12 rotates with respect to the fixing frame 2 .
- the shape of the chute 122 matches that of the baffle 51 , which has a length longer than that of the baffle 51 .
- the baffle 51 slides up and down in the chute 122 with respect to the rear cover 12 , such that the opening 15 can be shielded in any angle of swing.
- the baffle 51 is put around the installation post 201 and supported by the installation post 201 .
- the combination portion 52 has an installation hole 53 for the installation post 201 to pass therethrough, and a fixing mechanism for fixedly connecting the installation post 201 and the locking frame 23 is disposed between the installation post 201 and the locking frame 23 .
- the locking frame 23 comprises a fixing board 231
- the installation post 201 comprises an end cover plate 2011 for abutting against (in contact with) the fixing board 231
- the fixing mechanism comprises a plurality of first fixing hole 2012 formed on the end cover plate 2011 and a plurality of second fixing hole 232 formed on the fixing board 231 which correspond to the first fixing hole 2012 .
- the plurality of first fixing hole 2012 are disposed along the circumferential direction of the end cover plate 2011 with intervals between two adjacent first fixing holes 2012 .
- the installation post 201 can be locked with the locking frame 23 through a screw passing through the first fixing hole 2012 and the corresponding second fixing hole 232 .
- connection straps 521 are disposed with connection straps 521 , and two sides of the fixing board 231 define support slots 233 for the connection straps 521 to slide into.
- connection straps 521 are located on a left side and a right side of the combination portion 52 , respectively, and connection ears 234 are formed on a left side and a right side of the fixing board 231 , respectively.
- the connection ears 234 are located in the support slots 233 , the connection straps 521 define a guide slot 522 , and the connection ears 234 define a screw hole corresponding to the guide slot 522 .
- connection straps 521 are slid into the corresponding support slots 233 first, and screws connected to the screw holes of the connection ears 234 are slid into the guide slots 522 of the connection straps 521 .
- the fixing frame 2 can be pre-supported on the shielding part 5 to realize the fixing of the fixing frame 2 , and the fixing frame 2 can be locked with the installation post 201 through the screws.
- a positioning structure is disposed between the combination portion 52 and the installation post 201 .
- the positioning structure comprises positioning slots 523 formed on the combination portion 52 and protrusion portions 2013 protruding from an outer peripheral surface of the installation post 201 .
- the protrusion portions 2013 are capable of sliding into or out of the positioning slots 523 .
- the amount of the protrusion portion 2013 is, but is not limited to, two.
- the protrusion portions 2013 are disposed on the installation post 201 in an up and down symmetrical manner, and extends along the axis of the installation post 201 .
- the shape of the positioning slots 523 matches that of the protrusion portions 2013 .
- the position of the shielding part 5 can be quickly fixed to prevent the shielding part 5 from rotating about the axis of the installation post 201 with respect to the installation post 201 .
- the combination portion 52 is disposed with limit clips 524 for restricting the movement of the combination portion 52 with respect to the installation post 201 .
- the amount of the limit clips 524 is, but is not limited to, two.
- the limit clips 524 are disposed on the installation post 201 in an up and down symmetrical manner.
- the limit clips 524 are formed in the positioning slots 523 . It can be comprehended that the limit clips 524 abut against (in contact with) the protrusion portions 2013 of the installation post 201 to restrict the movement of the baffle 51 toward the support wall portion 202 after the baffle 51 is assembled on the installation post 201 .
- the installation post 201 has a hollow structure, and the end cover plate 2011 defines a wire hole 2014 .
- the first fixing hole 2012 surrounds an outer periphery of the wire hole 2014 , such that the power core can pass through the wire hole 2014 .
- the baffle 51 has reinforcing bar(s) 511 , so as to strengthen the baffle 51 .
- an edge of the opening 15 of the rear cover 12 is installed with a soft washer (not shown), so as to prevent the rear cover 12 from the damage caused by the collision with the installation post 201 and reduce the noise generated during rotation.
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Abstract
A robot head rotating structure includes a housing, a fixing frame, a connection assembly, and a rotary driving apparatus. The housing defines an internal space. The fixing frame is disposed in the internal space. The connection assembly is disposed between the housing and the fixing frame. The rotary driving apparatus is disposed in the internal space. In comparison with the prior art, the robot head rotating structure has the connection assembly disposed between the housing and the fixing frame as well as the rotary driving apparatus, which are capable of enabling the housing to rotate with respect to the fixing frame. As a result, the head of the robot is capable of swinging back and forth as the head of a human stably, and the raising and bowing of the head of the robot can be realized, which improves the automation of the robot.
Description
- This application claims priority to Chinese Patent Application No. 201611251558.2 filed Dec. 30, 2016 and Chinese Patent Application No. 201611251913.6, filed Dec. 30, 2016, which are hereby incorporated by reference herein in its entirety.
- The present disclosure generally relates to robots, and particularly to a robot head rotating structure.
- At present, robots with general programming capabilities and operational functions are known as intelligent robots, which have a wide range of applications. A traditional intelligent robot mainly includes a head and a trunk. The head is generally directly fixed on the trunk or installed on the trunk via a rotary table in a horizontal rotation manner. Therefore, the head of the robot is incapable of swinging back and forth as the head of a human, and is insufficient in automation.
- The purpose of the present disclosure is providing a robot head rotating structure to resolve the drawback that a robot head is incapable of swinging back and forth as the head of a human and insufficient in automation in the prior art.
- According to the present disclosure, a robot head rotating structure is provided. The robot head rotating structure comprises a robot head, a fixing frame, a connection assembly, and a rotary driving apparatus. The robot head comprises a housing defining an internal space. The fixing frame is disposed in the internal space. The connection assembly is disposed between the housing and the fixing frame. The rotary driving apparatus is disposed in the internal space. Wherein, the connection assembly comprises a fixing shah fixedly connected to the fixing frame and a flange rotatably installed to the fixing shaft, the flange is fixedly connected to the housing, and the rotary driving apparatus is utilized to rotate the flange around the fixing shaft.
- Furthermore, the flange is rotatably installed to the fixing shaft through a bearing, the fixing shaft comprises a shaft portion and a chassis portion, wherein the chassis portion is connected to one end of the shaft portion to fixedly connected with the fixing frame, and the bearing is put around the shaft portion and is supported by the shaft portion.
- Furthermore, the shaft portion comprises a sleeve portion and a support portion, wherein the sleeve portion protrudes from a side surface of the chassis portion away from the fixing frame, and the annular support portion protrudes from an outer end surface of the sleeve portion and extends outwardly along the axis of the sleeve portion. The outer end face of the sleeve portion has a first support surface abutting against a side end surface of the bearing, the first support surface surrounds an outer side of the support portion, and an outer peripheral surface of the support portion has a second support surface abutting an inner peripheral surface of the bearing.
- Furthermore, the rotary driving apparatus comprises a power source and a transmission mechanism. The transmission mechanism is connected between the power source and the flange. The transmission mechanism comprises a driven wheel fixedly connected with the flange and a driving wheel for driving the driven wheel to rotate, wherein the driving wheel is connected to the power source.
- Furthermore, the flange is rotatably installed to the fixing shaft through a hearing, the driven wheel is rotatably put around the bearing, and a limit flange for restricting the movement of the bearing protrudes inwardly from an inner wall of the driven wheel.
- Furthermore, the transmission mechanism further comprises a transmission belt wound between the driven wheel and the driving wheel. An anti-separation flange for restricting the movement of the transmission belt protrudes outwardly from an outer wall of the driven wheel.
- Furthermore, an outer wall of the driven wheel includes a first tooth portion, an outer wall of the driving wheel includes a second tooth portion, and an inner peripheral surface of the transmission belt includes a third tooth portion engaging with both the first tooth portion and the second tooth portion.
- Furthermore, the flange comprises an annular flange portion for fixedly connecting with the housing, an assembly portion for fixedly connecting with the limit flange, and a connection portion connected between the flange portion and the assembly portion.
- Furthermore, the robot head rotating structure further comprises two connection assemblies. The two connection assemblies are disposed on two sides of the fixing frame in a bilateral manner.
- Furthermore, the housing is spherical in shape and comprises a front case and a rear cover. The front case and the rear cover enclose to form the internal space, and the front case is locked with the rear cover through the flange.
- Furthermore, the robot head rotating structure further comprising a support base for supporting the head of the robot. The housing is rotatably connected to the fixing frame such that the housing is capable of rotating with respect to the fixing frame about the fixing shaft, the support base has an installation post. The fixing frame comprises a locking frame for fixedly connecting with the installation post. The housing defines an opening for the installation post to pass therethrough, and a shielding part for shielding the opening is disposed in the internal space.
- Furthermore, the housing comprises a front case and a back cover connecting with each other, wherein the rear cover comprises a recess having a chute, and the opening is on a bottom surface of the chute. The shielding part comprises a circular-arc-shaped baffle for engaging into the chute, and the baffle has a combination portion protruding from one side of a middle portion of the baffle for connecting with the installation post.
- Furthermore, the baffle is put around the installation post and supported by the installation post, the combination portion has an installation hole for the installation post to pass therethrough, and a fixing mechanism for fixedly connecting the installation post and the locking frame is disposed between the installation post and the locking frame.
- Furthermore, the locking frame comprises a fixing board, the installation post comprises an end cover plate for abutting against the fixing board, and the fixing mechanism comprises a first fixing hole formed on the end cover plate and a second fixing hole formed on the fixing board and corresponding to the first fixing hole.
- Furthermore, two sides of the combination portion are disposed with connection straps, and two sides of the fixing board define support slots for the connection straps to slide into.
- Furthermore, a positioning structure is disposed between the combination portion and the installation post, and the positioning structure comprises a positioning slot formed on the combination portion and a protrusion portion protruding from an outer peripheral surface of the installation post and being capable of sliding into or out of the positioning slot.
- Furthermore, the combination portion is disposed with a limit clip for restricting the movement of the combination portion with respect to the installation post.
- Furthermore, the installation post has a hollow structure, and the end cover plate defines a wire hole.
- Furthermore, the baffle has a reinforcing bar.
- Furthermore, the support base further comprises a support wall portion, the installation post is connected to the support wall portion, and the support wall portion has a wire groove.
- In comparison with the prior art, the robot bead rotating structure has the connection assembly disposed between the housing and the fixing frame as well as the rotary driving apparatus, which are capable of enabling the housing to rotate with respect to the fixing frame. As a result, the head of the robot is capable of swinging back and forth as the head of a human stably, and the raising and bowing of the head of the robot can be realized, which improves the automation of the robot.
- Other objects, advantages and novel features of the invention will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings.
- Many aspects of the present embodiments can be better understood with reference to the following drawings. The components in the drawings are not necessarily drawn to scale, the emphasis instead being placed upon clearly illustrating the principles of the present embodiments. Moreover, in the drawings, all the views are schematic, and like reference numerals designate corresponding parts throughout the several views.
-
FIG. 1 is a three dimensional view of a robot head according to an embodiment of the present disclosure. -
FIG. 2 is an exploded view of a robot head according to an embodiment of the present disclosure. -
FIG. 3 is a three dimensional view of a fixing frame according to an embodiment of the present disclosure. -
FIG. 4 is an exploded view of a fixing frame, a connection assembly, and a transmission mechanism according to an embodiment of the present disclosure. -
FIG. 5 is an enlarged view of part A ofFIG. 4 . -
FIG. 6 is a side view of a robot bead according to an embodiment of the present disclosure. -
FIG. 7 is a cross-sectional view taken along line I-I ofFIG. 6 . -
FIG. 8 is an enlarged view of part B ofFIG. 7 . -
FIG. 9 is a three dimensional view of connecting a robot head and a support base according to an embodiment of the present disclosure. -
FIG. 10 is an exploded view of a robot head and a support base according to an embodiment of the present disclosure. -
FIG. 11 is an enlarged view of part C ofFIG. 10 . -
FIG. 12 is a three dimensional view of a back cover according to an embodiment of the present disclosure. -
FIG. 13 is a rear view of a support base according to an embodiment of the present disclosure. - In order that the technical problems, technical solutions and advantageous effects to be solved by the present invention can be more clearly understood, the present invention will be described in more detail with reference to the accompanying drawings and examples. It is to be understood that the described embodiments are a part of embodiments of the present invention, and not all embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by those ordinary skilled in the art without the use of inventive labor are within the scope of the present invention.
- In order to enable those skilled in the art to better understand the technical solution of the present invention, the implementation of the present invention will be described in detail below with reference to specific drawings.
- The direct or location relationships indicated by the terms “front”, “back”, “left”, “right”, “upper”, “lower” and the like are based on the orientation or positional relation shown in the drawings, which are merely for the convenience to describe the present disclosure and for simplifying the descriptions, rather than indicating or implying the descripted apparatus or component need to have a particular orientation and constructed/operated in the particular orientation, and therefore can't be comprehended as the limitations to this disclosure.
- Unless otherwise defined, technical tans or scientific terms used herein should be in the ordinary meaning as understood by those ordinary skilled in the art. The terms “the first” and “the second” and the like are merely for the convenience of description, and can't be comprehended as indicating/implying the order, the amount, or the relative importance of the descripted technical characteristic. Therefore, the characteristics limited by “the first” and “the second” could include one or more of the characteristics expressly or implicitly. Likewise, the terms “a” or “one” and the like do not denote a numerical limitation, but rather denote the presence of at least one.
-
FIG. 1 toFIG. 8 shows a preferred embodiment of a robot head rotating structure of the present disclosure. - Referring to
FIG. 1 ,FIG. 2 andFIG. 4 , the robot head rotating structure comprises arobot head 100, a fixingframe 2, at least one set of connection assemblies 3 (e.g., two connection assemblies 3), and arotary driving apparatus 4. Therobot head 100 comprises ahousing 1 which defines an internal space 1 a. The fixingframe 2 is disposed in the internal space 1 a. Theconnection assemblies 3 are disposed between thehousing 1 and the fixingframe 2. Each of theconnection assemblies 3 comprises a fixingshaft 31 and aflange 33. Therotary driving apparatus 4 for rotating theflange 33 around the fixingshaft 31 is disposed in the internal space 1 a. The fixingshaft 31 is fixedly connected to the fixingframe 2. Theflange 33 is rotatably installed to the fixingshaft 31 through abearing 32, and is fixedly connected to thehousing 1. - The above-mentioned robot head rotating structure has the
connection assembly 3 disposed between thehousing 1 and the fixingframe 2 as well as therotary driving apparatus 4, which are capable of enabling thehousing 1 to rotate with respect to the fixingframe 2. As a result, therobot head 100 is capable of swinging back and forth as the head of a human stably after therotary driving apparatus 4 is controlled by an external electric signal, and the raising and bowing of therobot head 100 can be realized, which improves the automation of the robot. - Referring to
FIG. 1 andFIG. 2 , therobot head 100 comprises thehousing 1. Thehousing 1 defines the internal space 1 a. The fixingframe 2 is disposed in the internal space 1 a. - Referring to
FIG. 1 andFIG. 2 , thehousing 1 is substantially spherical in shape. The above-mentioned components are disposed in thehousing 1 and protected by thehousing 1. In this embodiment, thehousing 1 is rotatable with respect to the fixingframe 2, and an inner wall of thehousing 1 can be fixedly installed with an adaption board, a power supply board, etc. Thehousing 1 comprises afront case 11 and aback cover 12 which are connected with each other, wherein thefront case 11 and theback cover 12 enclose to form the inner space 1 a. A front side of thefront case 11 has a flat surface, and display screen or a camera could be installed on the fiat surface. Thefront case 11 and therear cover 12 each comprises a side portion for connecting with theflange 33. A wire throughhole 13 is provided in a side portion of thefront case 11. - Referring to
FIGS. 2 to 4 , the fixingframe 2, as a rotation supporting structure of thehousing 1, is fixedly connected with a support part (not shown) which is in exterior of thehousing 1. In this embodiment, the fixingframe 2 is, but not limited to, a square frame with a two-layer structure. The fixingframe 2 comprises anupper plate 21, alower plate 22 located below theupper plate 21, a lockingstand 23, andside plates 24 on two skies of theupper plate 21. Theupper plate 21 and thelower plates 22 could be disposed with a supportingplate 25 for placing electrical components. The locking stand 23 is connected between rear sides of theupper plate 21 and thelower plates 22, thereby fixing with the support part. - Referring to
FIGS. 2 to 4 , theconnection assembly 3 is utilized to connect the fixingframe 2 and thehousing 1. Theconnection assembly 3 comprises the fixingshaft 31, thehearing 32, and theflange 33. The fixingshaft 31 is fixedly connected to theside plates 24 of the fixingframe 2. Thebearing 32 could be a rolling bearing, and is installed on the fixingshaft 31. Theflange 33 is put around thebearing 32, and is fixedly connected to thehousing 1. Thehousing 1 rotates with respect to the fixingframe 2 through the rotation of theflange 33 on the fixingshaft 31. In this embodiment, the amount of theconnection assembly 3 is, but not limited to, two sets. The two sets of theconnection assemblies 3 are disposed in a bilateral manner about a central line of the fixingframe 2 which is perpendicular to theupper plate 21 and thelower plates 22, and thefirst hearings 32 on the left and right sides are disposed coaxially. As a result, since the left and right sides of the fixingframe 2 are pivoted to thehousing 1, thehousing 1 rotates more smoothly with respect to the fixedframe 2, and the rotary structure could be more firm. - For the convenience of description, the two connection assemblies are named as a
first connection assembly 3 a and asecond connection assembly 3 b, respectively. Thefirst connection assembly 3 a and thesecond connection assembly 3 b are disposed on two sides of the fixingframe 2 in a bilateral manner, and are disposed coaxially. The structure of thefirst connection assembly 3 a and thesecond connection assembly 3 b could be the same or similar. The following will take thefirst connection assembly 3 a as an example for briefly describing the structure of thefirst connection assembly 3 a and thesecond connection assembly 3 b. - Referring to
FIGS. 4 to 8 , the fixing shall 31 of thefirst connection assembly 3 a comprises ashaft portion 311 and achassis portion 312, wherein theshaft portion 311 extends horizontally and is in a cylindrical shape, and thechassis portion 312 is connected to a side of theshaft portion 311. In this embodiment, and a plurality of assembly holes 313 are formed on thechassis portion 312 along a circumferential direction of thechassis portion 312 with intervals between two adjacent assembly holes 313. Screw holes corresponding to the assembly holes 313 are formed on theside plates 24. A screw could sequentially passed through theassembly hole 313 and the screw hole, thereby fixing the fixingshaft 31 to an outside of the fixingframe 2. Thechassis portion 312 has apositioning notch 314, and has positioning post(s) 319 protruding therefrom, which facilitate the connection between the fixingshaft 31 and the fixingframe 2. Particularly, theshaft portion 311 comprises asleeve portion 315 and asupport portion 316, wherein thesleeve portion 315 protrudes from a side surface of thechassis portion 312 which away from the fixingframe 2, and theannular support portion 316 extends outwardly from the outer end face of thesleeve portion 315 along the axis of thesleeve portion 315. The outer end surface of thesleeve portion 315 has afirst support surface 317 surrounding the outer side of thesupport portion 316, and the outer circumferential surface of thesupport portion 316 has asecond support surface 318. Thebearing 32 could be put around thesupport portion 316 by tightly matching, and thesecond support surface 318 abuts against (in contact with) an inner peripheral surface of thebearing 32 while thefirst support surface 317 abuts against (in contact with) a side end surface of thebearing 32 which close to the fixingframe 2, thereby restraining the movement of thebearing 32 toward thechassis portion 312. - Referring to
FIGS. 4 to 8 , theflange 33 of thefirst connection assembly 3 a comprises aflange portion 331 for fixedly connected with thehousing 1, anassembly portion 332, and aconnection portion 333 connected between theflange portion 331 and theassembly portion 332. In this embodiment, theflange portion 331 is substantially in an annular shape. Theconnection portion 333 extends from the inner edge of theflange portion 331 along the axial direction of theflange portion 331. Theassembly portion 332 extends from the inner edge of one end of theconnection portion 333 which away from theflange portion 331 along the radial direction of theconnection portion 333. A plurality of lockingholes 334 are formed on theflange portion 331 along a circumferential direction of theflange portion 331 with intervals between two adjacent locking holes 334. A side portion of thefront case 11 and a side portion of therear cover 12 are each provided with lock holes 14 corresponding to the locking holes 334. After screws pass through thelock hole 14 of thefront case 11 and the corresponding locking holes 334 as well as thelock hole 14 of therear cover 12 and the corresponding locking holes 334, thefront case 11 and therear cover 12 could be feed to an outside of theflange 33, and thefront case 11 and therear cover 12 are fixedly connected. - Referring to
FIGS. 4 to 8 , therotation driving apparatus 4 is utilized to enable theflange 33 of thefirst connection assembly 3 a to rotate, thereby driving thehousing 1 to rotate with respect to the fixingframe 2. In this embodiment, the amount of therotation driving apparatus 4 is, but not limited to, one. Therotation driving apparatus 4 comprises apower source 41 and atransmission mechanism 42 connected between thepower source 41 and theflange 33. Thepower source 41 could be, but is not limited to, a servo, and thetransmission mechanism 42 comprises a drivenwheel 421 fixedly connected to theflange 33 and adriving wheel 422 for driving the drivenwheel 421 to rotate. Thedriving wheel 422 is connected to an output shaft of thepower source 41, and is coaxially disposed with the output shaft, thereby driving thedriving wheel 422 to rotate through the output shaft when thepower source 41 operates. Thehousing 1 could rotate with respect to the fixingframe 2 through rotating therotation driving apparatus 4, which enables therobot head 100 to swing back and forth so as to realize the forward and backward motion of therobot head 100. - Of course, the output shaft of the
power source 41 could also be provided with a steering wheel, and thedriving wheel 422 could be installed on the steering wheel, so that thepower source 41 could drive the steering wheel to rotate thedriving wheel 422. - Particularly, referring to
FIGS. 4 to 8 , a side end face of the drivenwheel 421 is locked and fixed by screws with theassembly portion 332 of theflange 33 in thefirst connection assembly 3 a, the drivenwheel 421 is rotatably put around thebearing 32, and an inner wall (i.e., inner peripheral surface) of the drivenwheel 421 has alimit flange 423 protruding inwardly for restricting the movement of thebearing 32. It is to be noted that, after the drivenwheel 421 is put around theshaft portion 311 of the fixingshaft 31, the inner wall of the drivenwheel 421 abuts against (in contact with) an outer peripheral surface of the bearing 32 in thefirst connection assembly 3 a, an outer end surface (a side end surface close to the fixing frame 2) of thelimit flange 423 abuts against (in contact with) the side end surface of thebearing 32 which away from the fixingframe 2. The drivenwheel 421 and theshaft portion 311 jointly define a limitation space for accommodating thebearing 32, and the outer end surfaces of thefirst support surface 317, thesecond support surface 318, and thelimit flange 423 are positioned in the limitation space to lock the position of thebearing 32. As a result, when thehousing 1 rotates, thebearing 32 does not move, and thehousing 1, and thehousing 1 as well as the fixingframe 2 do not move with respect to each other, hence has better rotational stability. - It should be noted that, in this embodiment, since only one
rotation driving apparatus 4 is used, therotation driving apparatus 4 is connected to thefirst connection assembly 3 a, and thesecond connection assembly 3 b disposed on the other side of the fixingframe 2 is not connected to therotation driving apparatus 4, hence the main difference between thefirst connection assembly 3 a and thesecond connection assembly 3 b consists in the structure of theflange 33. Theflange 33 of thefirst connection assembly 3 a is assembled to the bearing 32 of thefirst connection assembly 3 a through the drivenwheel 421. As can be seen fromFIG. 7 , theflange 33 of thesecond connection assembly 3 b is directly assembled to the bearing 32 of thesecond connection assembly 3 b, and thesecond connection assembly 3 b comprises aflange portion 331 for fixedly connecting with thehousing 1, anassembly portion 332, aconnection portion 333 connected between theflange portion 331 and theassembly portion 332, an extendingportion 335 extending in the axial direction of theflange portion 331 from theassembly portion 332, and aprotrusion portion 336 protruding on an inner wall of the extendingportion 335. After theflange 33 is put around theshaft portion 311 of the fixingshaft 31, an inner wall of the extendingportion 335 abuts against (in contact with) the outer peripheral surface of thebearing 32, and an outer end surface (a side end surface close to the fixing frame 2) of theprotrusion portion 336 abuts against (in contact with) the side end surface of thebearing 32 away from the fixingframe 2. - Of course, when two
rotation driving apparatus 4 are used, both thefirst connection assembly 3 a and thesecond connection assembly 3 b are connected to the correspondingrotation driving apparatus 4, and thefirst connection assembly 3 a and thesecond connection assembly 3 b have the same structure. - Referring to
FIGS. 4 to 8 , in this embodiment, thetransmission mechanism 42 is a pulley transmission mechanism, wherein the drivenwheel 421 and thedriving wheel 422 are both pulleys, and thetransmission mechanism 42 further comprises atransmission belt 424 wound between the drivenwheel 421 and thedriving wheel 422. An outer wall (i.e., inner peripheral surface) of the drivenwheel 421 has ananti-separation flange 425 protruding outwardly for restricting the movement of thetransmission belt 424. An upper end portion of thetransmission belt 424 is clamped between theanti-separation flange 425 and theassembly portion 332 to prevent thetransmission belt 424 from separating from the drivenwheel 421. It should be noted that, thedriving wheel 422 also has an anti-separation structure for restricting the movement of thetransmission belt 424, wherein the anti-separation structure are twoanti-movement flanges 426 formed on an outer wall (i.e., outer peripheral-surface) of thedriving wheel 422. The twoanti-movement flanges 426 are spaced from each other on the axis of thedriving wheel 422. A lower end portion of thetransmission belt 424 is clamped between the twoanti-movement flanges 426 to prevent thetransmission belt 424 from separating from thedriving wheel 422. - Of course, the
transmission mechanism 42 could also be a gear transmission mechanism in which the drivenwheel 421 and thedriving wheel 422 are both gears, wherein the drivenwheel 421 and thedriving wheel 422 could engage with each other, or a gear set for transmission could be disposed between the drivenwheel 421 and thedriving wheel 422, so as to enable the drivenwheel 421 to rotate. - Referring to
FIGS. 4 to 8 , an outer wall of the drivenwheel 421 includes afirst tooth portion 421 a, an outer wall of thedriving wheel 422 includes asecond tooth portion 422 a, wherein thetransmission belt 424 is single-sided tooth belt with an inner peripheral surface being a rubber contact surface. An inner peripheral surface of thetransmission belt 424 includes athird tooth portion 424 a engaged with both thefirst tooth portion 421 a and thesecond tooth portion 422 a. As a result, thebelt 424 can be prevented from slipping, and thehousing 1 could be easily controlled to flip back and forth. - A connection structure of the
robot head 100 and asupport base 200 provided in an embodiment will be described in detail with reference toFIGS. 9 to 13 . - Referring to
FIGS. 9 to 11 , thesupport base 200 is utilized to support therobot head 100. Thesupport base 200 comprises aninstallation post 201 and asupport wall portion 202. Theinstallation post 201 is connected to thesupport wall portion 202. In this embodiment, theinstallation post 201 has a substantially circular cross-section, and thesupport wall portion 202 has a substantially arc structure which encloses a half of therear cover 12, which has a shape matching that of therear cover 12. Thesupport wall portion 202 has awire groove 2021 for a power cord to insert, thereby facilitating the storage of the power cord. In addition, a decoration cover plate could be installed on an outer side of thesupport wall portion 202 to conceal the power cord, so as to prevent the power cord from being exposed, thereby protecting the power cord from damage. Thehousing 1 is rotatably connected to the fixingframe 2 such that thehousing 1 is capable of rotating with respect to the fixingframe 2 about the fixingshaft 31. The fixingframe 2 comprises a lockingframe 23 for fixedly connecting with theinstallation post 201. - Referring to
FIG. 12 , therear cover 12 defines anopening 15 for theinstallation post 201 to pass therethrough. Therear cover 12 comprises arecess 121. Therecess 121 has achute 122, and theopening 15 is on a bottom surface of thechute 122. A shieldingpart 5 for shielding theopening 15 is disposed in the internal space 1 a. The shieldingpart 5 comprises a circular-arc-shapedbaffle 51 for engaging into thechute 122, and thebaffle 51 has acombination portion 52 protruding from one side of a middle portion of thebaffle 51 for connecting with theinstallation post 201. In this embodiment, theopening 15 is substantially an elongated waist-like hole, which has a length such that theopening 15 can be shielded when therear cover 12 rotates with respect to the fixingframe 2. The shape of thechute 122 matches that of thebaffle 51, which has a length longer than that of thebaffle 51. When thehousing 1 rotates with respect to the fixingframe 2, thebaffle 51 moves with respect to therear cover 12 in a longitudinal direction of thechute 122 in thechute 122. In other words, when thehousing 1 is rotates about the fixingshaft 31 with respect to the fixingframe 2, that is, when therobot head 100 swings back and forth on thesupport base 200, thebaffle 51 slides up and down in thechute 122 with respect to therear cover 12, such that theopening 15 can be shielded in any angle of swing. - Referring to
FIGS. 10 to 13 , thebaffle 51 is put around theinstallation post 201 and supported by theinstallation post 201. Thecombination portion 52 has aninstallation hole 53 for theinstallation post 201 to pass therethrough, and a fixing mechanism for fixedly connecting theinstallation post 201 and the lockingframe 23 is disposed between theinstallation post 201 and the lockingframe 23. In this embodiment, the lockingframe 23 comprises a fixingboard 231, theinstallation post 201 comprises anend cover plate 2011 for abutting against (in contact with) the fixingboard 231, and the fixing mechanism comprises a plurality offirst fixing hole 2012 formed on theend cover plate 2011 and a plurality ofsecond fixing hole 232 formed on the fixingboard 231 which correspond to thefirst fixing hole 2012. The plurality offirst fixing hole 2012 are disposed along the circumferential direction of theend cover plate 2011 with intervals between two adjacent first fixing holes 2012. Theinstallation post 201 can be locked with the lockingframe 23 through a screw passing through thefirst fixing hole 2012 and the corresponding second fixinghole 232. - Referring to
FIGS. 10 to 13 , two sides of thecombination portion 52 are disposed withconnection straps 521, and two sides of the fixingboard 231 definesupport slots 233 for the connection straps 521 to slide into. In this embodiment, twoconnection straps 521 are located on a left side and a right side of thecombination portion 52, respectively, andconnection ears 234 are formed on a left side and a right side of the fixingboard 231, respectively. Theconnection ears 234 are located in thesupport slots 233, the connection straps 521 define aguide slot 522, and theconnection ears 234 define a screw hole corresponding to theguide slot 522. It is to be noted that, when the shieldingpart 5 is connected to the lockingframe 23, the connection straps 521 are slid into thecorresponding support slots 233 first, and screws connected to the screw holes of theconnection ears 234 are slid into theguide slots 522 of the connection straps 521. Thus, the fixingframe 2 can be pre-supported on the shieldingpart 5 to realize the fixing of the fixingframe 2, and the fixingframe 2 can be locked with theinstallation post 201 through the screws. - Referring to
FIGS. 10 to 13 , a positioning structure is disposed between thecombination portion 52 and theinstallation post 201. The positioning structure comprises positioningslots 523 formed on thecombination portion 52 andprotrusion portions 2013 protruding from an outer peripheral surface of theinstallation post 201. Theprotrusion portions 2013 are capable of sliding into or out of thepositioning slots 523. In this embodiment, the amount of theprotrusion portion 2013 is, but is not limited to, two. Theprotrusion portions 2013 are disposed on theinstallation post 201 in an up and down symmetrical manner, and extends along the axis of theinstallation post 201. The shape of thepositioning slots 523 matches that of theprotrusion portions 2013. Thus, the position of the shieldingpart 5 can be quickly fixed to prevent theshielding part 5 from rotating about the axis of theinstallation post 201 with respect to theinstallation post 201. - Referring to
FIGS. 10 to 13 , thecombination portion 52 is disposed withlimit clips 524 for restricting the movement of thecombination portion 52 with respect to theinstallation post 201. In this embodiment, the amount of the limit clips 524 is, but is not limited to, two. The limit clips 524 are disposed on theinstallation post 201 in an up and down symmetrical manner. The limit clips 524 are formed in thepositioning slots 523. It can be comprehended that the limit clips 524 abut against (in contact with) theprotrusion portions 2013 of theinstallation post 201 to restrict the movement of thebaffle 51 toward thesupport wall portion 202 after thebaffle 51 is assembled on theinstallation post 201. - Of course, it is also possible to form a magazine on the
protrusion portions 2013 to engage with thelimit clip 524. Thus, after thelimit clip 524 is engaged with the magazine, the movement of thebaffle 51 with respect to theinstallation post 201 can be restricted. - As a further optimization, the
installation post 201 has a hollow structure, and theend cover plate 2011 defines awire hole 2014. Thefirst fixing hole 2012 surrounds an outer periphery of thewire hole 2014, such that the power core can pass through thewire hole 2014. - As a further optimization, the
baffle 51 has reinforcing bar(s) 511, so as to strengthen thebaffle 51. - As a further optimization, an edge of the
opening 15 of therear cover 12 is installed with a soft washer (not shown), so as to prevent therear cover 12 from the damage caused by the collision with theinstallation post 201 and reduce the noise generated during rotation. - Although the features and elements of the present disclosure are described as embodiments in particular combinations, each feature or element can be used alone or in other various combinations within the principles of the present disclosure to the full extent indicated by the broad general meaning of the terms in which the appended claims are expressed.
Claims (20)
1. A robot head rotating structure, comprising:
a robot bead comprising a housing defining an internal space;
a fixing frame disposed in the internal space;
at least one connection assembly disposed between the housing and the fixing frame; and
a rotary driving apparatus disposed in the internal space;
wherein the connection assembly comprises a fixing shaft fixedly connected to the fixing frame and a flange rotatably installed to the fixing shaft, the flange is fixedly connected to the housing, and the rotary driving apparatus is utilized to rotate the flange around the fixing shaft.
2. The robot head rotating structure of claim 1 , wherein the flange is rotatably installed to the fixing shaft through a bearing, the fixing shaft comprises a shaft portion and a chassis portion, the chassis portion is connected to one end of the shaft portion to fixedly connected with the fixing frame, and the bearing is put around the shaft portion and is supported by the shaft portion.
3. The robot head rotating structure of claim 2 , wherein the shaft portion comprises a sleeve portion and a support portion, the sleeve portion protrudes from a side surface of the chassis portion away from the fixing frame, and the annular support portion protrudes from an outer end surface of the sleeve portion and extends outwardly along the axis of the sleeve portion, the outer end face of the sleeve portion has a first support surface abutting against a side end surface of the bearing, the first support surface surrounds an outer side of the support portion, an outer peripheral surface of the support portion has a second support surface abutting an inner peripheral surface of the bearing.
4. The robot head rotating structure of claim 1 , wherein the rotary driving apparatus comprises a power source and a transmission mechanism; wherein the transmission mechanism is connected between the power source and the flange, the transmission mechanism comprises a driven wheel fixedly connected with the flange and a driving wheel for driving the driven wheel to rotate, and the driving wheel is connected to the power source.
5. The robot head rotating structure of claim 4 , wherein the flange is rotatably installed to the fixing shaft through a bearing, the driven wheel is rotatably put around the bearing, and a limit flange for restricting the movement of the bearing protrudes inwardly from an inner wall of the driven wheel.
6. The robot head rotating structure of claim 4 , wherein the transmission mechanism further comprises a transmission belt wound between the driven wheel and the driving wheel, an anti-separation flange for restricting the movement of the transmission belt protrudes outwardly from an outer wall of the driven wheel.
7. The robot head rotating structure of claim 6 , wherein an outer wall of the driven wheel comprises a first tooth portion, an outer wall of the driving wheel comprises a second tooth portion, an inner peripheral surface of the transmission belt comprises a third tooth portion engaging with both the first tooth portion and the second tooth portion.
8. The robot head rotating structure of claim 5 , wherein the flange comprises an annular flange portion for fixedly connecting with the housing, an assembly portion for fixedly connecting with the limit flange, and a connection portion connected between the flange portion and the assembly portion.
9. The robot head rotating structure of claim 1 , further comprising two connection assemblies, wherein the two connection assemblies are disposed on two sides of the fixing frame in a bilateral manner.
10. The robot head rotating structure of claim 1 , wherein the housing is spherical in shape and comprises a front case and a rear cover, the front case and the rear cover enclose to form the internal space, and the front case is locked with the rear cover through the flange.
11. The robot head rotating structure of claim 1 , further comprising a support base for supporting the robot head, wherein the support base has an installation post, the fixing frame comprises a locking frame for fixedly connecting with the installation post, the housing defines an opening for the installation post to pass therethrough, and a shielding part for shielding the opening is disposed in the internal space.
12. The robot head rotating structure of claim 11 , wherein the housing comprises a front case and a back cover connecting with each other, the rear cover comprises a recess having a chute, the opening is on a bottom surface of the chute; wherein the shielding part comprises a circular-arc-shaped baffle for engaging into the chute, and the baffle has a combination portion protruding from one side of a middle portion of the baffle for connecting with the installation post.
13. The robot head rotating structure of claim 12 , wherein the baffle is put around the installation post and supported by the installation post, the combination portion has an installation hole for the installation post, to pass therethrough, and a fixing mechanism for fixedly connecting the installation post and the locking frame is disposed between the installation post and the locking frame.
14. The robot head rotating structure of claim 13 , wherein the locking frame comprises a fixing board, the installation post comprises an end cover plate for abutting against the fixing board, and the fixing mechanism comprises a first fixing hole formed on the end cover plate and a second fixing hole formed on the fixing board and corresponding to the first fixing hole.
15. The robot head rotating structure of claim 14 , wherein two sides of the combination portion are disposed with connection straps, and two sides of the fixing board define support slots for the connection straps to slide into.
16. The robot head rotating structure of claim 13 , wherein a positioning structure is disposed between the combination portion and the installation post, and the positioning structure comprises a positioning slot formed on the combination portion and a protrusion portion protruding from an outer peripheral surface of the installation post and being capable of sliding into or out of the positioning slot.
17. The robot head rotating structure of claim 13 , wherein the combination portion is disposed with a limit clip for restricting the movement of the combination portion with respect to the installation post.
18. The robot head rotating structure of claim 14 , wherein the installation post has a hollow structure, and the end cover plate defines a wire hole.
19. The robot head rotating structure of claim 12 , wherein the baffle has a reinforcing bar.
20. The robot head rotating structure of claim 11 , wherein the support base further comprises a support wall portion, the installation post is connected to the support wall portion, and the support wall portion has a wire groove.
Applications Claiming Priority (6)
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CN201611251913.6A CN106625602B (en) | 2016-12-30 | 2016-12-30 | Robot |
CN201611251558.2A CN106737743B (en) | 2016-12-30 | 2016-12-30 | Robot head rotating structure |
CN201611251913 | 2016-12-30 | ||
CN201611251913.6 | 2016-12-30 | ||
CN201611251558.2 | 2016-12-30 | ||
CN201611251558 | 2016-12-30 |
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US15/448,479 Active 2037-06-10 US10183403B2 (en) | 2016-12-30 | 2017-03-02 | Robot head rotating structure |
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
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US10307914B2 (en) * | 2016-12-30 | 2019-06-04 | UBTECH Robotics Corp. | Robot with rotary structure |
USD890240S1 (en) * | 2019-03-15 | 2020-07-14 | Misty Robotics, Inc. | Head for a robotic device |
CN111870968A (en) * | 2020-07-16 | 2020-11-03 | 东莞理工学院 | Fighting robot with protective structure and convenient to assemble |
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DE50308852D1 (en) * | 2002-05-29 | 2008-01-31 | Sew Eurodrive Gmbh & Co | STANDARD DRIVE, SERIES WITH INTERMED |
EP1815949A1 (en) * | 2006-02-03 | 2007-08-08 | The European Atomic Energy Community (EURATOM), represented by the European Commission | Medical robotic system with manipulator arm of the cylindrical coordinate type |
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ITTO20130551A1 (en) * | 2013-07-02 | 2015-01-03 | Fond Istituto Italiano Di Tecnologia | PERFECTED JOINT WITH AGONIST ACTUATION - ANTAGONIST |
FR3020847B1 (en) * | 2014-05-07 | 2017-01-13 | Aldebaran Robotics | SHOCK ABSORBER DEVICE FOR A HUMANOID ROBOT |
EP3040581A1 (en) * | 2015-01-05 | 2016-07-06 | Aktiebolaget SKF | Pulley device for a drive element |
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US10307914B2 (en) * | 2016-12-30 | 2019-06-04 | UBTECH Robotics Corp. | Robot with rotary structure |
USD890240S1 (en) * | 2019-03-15 | 2020-07-14 | Misty Robotics, Inc. | Head for a robotic device |
CN111870968A (en) * | 2020-07-16 | 2020-11-03 | 东莞理工学院 | Fighting robot with protective structure and convenient to assemble |
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